EP3929616B1 - Erfassung und vermeidung für automatisierte mobile fahrzeuge - Google Patents

Erfassung und vermeidung für automatisierte mobile fahrzeuge

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Publication number
EP3929616B1
EP3929616B1 EP21187956.4A EP21187956A EP3929616B1 EP 3929616 B1 EP3929616 B1 EP 3929616B1 EP 21187956 A EP21187956 A EP 21187956A EP 3929616 B1 EP3929616 B1 EP 3929616B1
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EP
European Patent Office
Prior art keywords
amv
distance
mobile vehicle
automated mobile
implemented method
Prior art date
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Active
Application number
EP21187956.4A
Other languages
English (en)
French (fr)
Other versions
EP3929616A1 (de
Inventor
Gur Kimchi
Scott Isaacs
Amir Navot
Brian C. Beckman
Frederik Schaffalitzky
Scott A. Green
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amazon Technologies Inc
Original Assignee
Amazon Technologies Inc
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Publication date
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Publication of EP3929616A1 publication Critical patent/EP3929616A1/de
Application granted granted Critical
Publication of EP3929616B1 publication Critical patent/EP3929616B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/25—Transmission of traffic-related information between aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/53—Navigation or guidance aids for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/74—Arrangements for monitoring traffic-related situations or conditions for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Claims (13)

  1. Computerimplementiertes Verfahren zum Verändern einer Bahn eines automatisierten mobilen Fahrzeugs (100), das ein Abstandsbestimmungselement (304-1, 904-1) umfasst, das mit einem Abschnitt eines Propellermotors (330) des automatisierten mobilen Fahrzeugs gekoppelt ist, wobei sich das Abstandsbestimmungselement mit einer Drehung des Abschnitts des Propellermotors dreht, wobei das Verfahren Folgendes umfasst:
    Detektieren eines Vorhandenseins eines Objekts (902), dadurch gekennzeichnet, dass das Detektieren eines Vorhandenseins eines Objekts, zum Vergrößern des detektierbaren Bereichs um das automatisierte mobile Fahrzeug, ein Verändern einer Nickbewegung des automatisierten mobilen Fahrzeugs, einer Gierbewegung des automatisierten mobilen Fahrzeugs und/oder einer Rollbewegung des automatisierten mobilen Fahrzeugs, während sich das automatisierte mobile Fahrzeug bewegt, um das Objekt zu detektieren, umfasst, wobei die Nickbewegung und/oder die Rollbewegung periodisch verändert werden und wobei die Gierbewegung, die Nickbewegung und/oder die Rollbewegung verändert werden, während eine Flugbahn des automatisierten mobilen Fahrzeugs aufrechterhalten wird;
    Bestimmen eines Abstands von dem Objekt, wobei der Abstand zumindest teilweise basierend auf dem Abstandsbestimmungselement (304-1, 904-1) bestimmt wird.
  2. Computerimplementiertes Verfahren nach Anspruch 1, ferner umfassend:
    Bestimmen, dass eine Kommunikation zwischen dem automatisierten mobilen Fahrzeug und dem Objekt besteht; und
    Bestimmen, zumindest teilweise basierend auf der Kommunikation, einer Absicht des Objekts.
  3. Computerimplementiertes Verfahren nach einem der Ansprüche 1 oder 2, ferner umfassend:
    Bestimmen einer Position des automatisierten mobilen Fahrzeugs.
  4. Computerimplementiertes Verfahren nach Anspruch 3, ferner umfassend:
    Bestimmen einer Position, einer Richtung und/oder einer Geschwindigkeit des Objekts relativ zu dem automatisierten mobilen Fahrzeug zumindest teilweise basierend auf dem Abstand; und
    Bestimmen, dass die Bahn des automatisierten mobilen Fahrzeugs geändert werden soll, zumindest teilweise basierend auf der Position des automatisierten mobilen Fahrzeugs und der Position, der Richtung und/oder der Geschwindigkeit des Objekts relativ zu dem automatisierten mobilen Fahrzeug.
  5. Computerimplementiertes Verfahren nach einem der Ansprüche 1, 2, 3 oder 4, wobei das Abstandsbestimmungselement ein Ultraschall-Entfernungsmessmodul, einen Laser-Entfernungsmesser, ein Radar-Abstandsmessmodul, einen Lidar-basierten Entfernungsmesser, einen Sonar-basierten Entfernungsmesser oder einen laufzeitbasierten Entfernungsmesser umfasst.
  6. Computerimplementiertes Verfahren nach einem der Ansprüche 1, 2, 3, 4 oder 5, wobei das Bestimmen des Abstands von dem Objekt ferner Folgendes umfasst:
    Emittieren eines Lasersignals in Richtung des Objekts von einem Laser-Entfernungsmesser des Abstandsbestimmungselements; und
    Empfangen des vom Objekt reflektierten Lasersignals.
  7. Computerimplementiertes Verfahren nach Anspruch 6, wobei der Laser-Entfernungsmesser mit dem Abschnitt des Propellermotors gekoppelt und dazu ausgelegt ist, sich mit diesem zu drehen, und wobei das Emittieren des Lasersignals ferner Folgendes umfasst:
    Emittieren des Lasersignals auf einer Ebene zumindest teilweise basierend auf einer Drehung des Laser-Entfernungsmessers.
  8. Computerimplementiertes Verfahren nach einem der Ansprüche 6 oder 7, wobei das Lasersignal durch mindestens eine Öffnung einer außenliegenden Komponente des Propellermotors emittiert wird.
  9. Computerimplementiertes Verfahren nach einem der Ansprüche 6, 7 oder 8, wobei das Lasersignal in Richtung mindestens einer reflektierenden Oberfläche des Propellermotors emittiert wird, so dass das Lasersignal reflektiert und in Richtung des Objekts emittiert wird.
  10. Computerimplementiertes Verfahren nach einem der Ansprüche 7, 8 oder 9, ferner umfassend:
    Bestimmen, unter Verwendung eines zweiten Abstandsbestimmungselements (904-2), das mit einem mit dem automatisierten mobilen Fahrzeug gekoppelten zweiten Propellermotor assoziiert ist, eines zweiten Abstands von dem Objekt; und
    weiteres Verändern der Bahn des automatisierten mobilen Fahrzeugs zumindest teilweise basierend auf dem zweiten Abstand.
  11. Computerimplementiertes Verfahren nach Anspruch 10, wobei das Bestimmen des zweiten Abstands von dem Objekt ferner Folgendes umfasst:
    Emittieren eines zweiten Entfernungsmesssignals in Richtung des Objekts von einem zweiten Entfernungsmesser des zweiten Abstandsbestimmungselements; und
    Empfangen des vom Objekt reflektierten zweiten Entfernungsmesssignals.
  12. Computerimplementiertes Verfahren nach Anspruch 11, wobei der zweite Entfernungsmesser mit dem zweiten Propellermotor gekoppelt und dazu ausgelegt ist, sich mit diesem zu drehen, und wobei das Emittieren des zweiten Entfernungsmesssignals ferner Folgendes umfasst:
    Emittieren des zweiten Entfernungsmesssignals auf einer zweiten Ebene zumindest teilweise basierend auf einer Drehung des zweiten Entfernungsmessers;
    wobei sich die Ebene und die zweite Ebene schneiden.
  13. Computerimplementiertes Verfahren nach einem der Ansprüche 1-12, ferner umfassend:
    Bestimmen, unter Verwendung eines dritten Abstandsbestimmungselements, das mit dem mit dem automatisierten mobilen Fahrzeug gekoppelten Propellermotor assoziiert ist, des Abstands von dem Objekt; und
    wobei ein drittes Entfernungsmesssignal von einem dritten Entfernungsmesser des dritten Abstandsbestimmungselements auf einer dritten Ebene zumindest teilweise basierend auf einer Drehung des dritten Entfernungsmessers emittiert wird.
EP21187956.4A 2014-03-25 2015-03-19 Erfassung und vermeidung für automatisierte mobile fahrzeuge Active EP3929616B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/225,161 US10078136B2 (en) 2014-03-25 2014-03-25 Sense and avoid for automated mobile vehicles
EP15768164.4A EP3123261B1 (de) 2014-03-25 2015-03-19 Erfassung und vermeidung für automatisierte mobile fahrzeuge
PCT/US2015/021477 WO2015148262A1 (en) 2014-03-25 2015-03-19 Sense and avoid for automated mobile vehicles

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP15768164.4A Division EP3123261B1 (de) 2014-03-25 2015-03-19 Erfassung und vermeidung für automatisierte mobile fahrzeuge
EP15768164.4A Division-Into EP3123261B1 (de) 2014-03-25 2015-03-19 Erfassung und vermeidung für automatisierte mobile fahrzeuge

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EP3929616A1 EP3929616A1 (de) 2021-12-29
EP3929616B1 true EP3929616B1 (de) 2026-08-05

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EP (2) EP3123261B1 (de)
CA (3) CA3067240C (de)
WO (1) WO2015148262A1 (de)

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